libfive is a software library and set of tools for solid modeling, especially suited for parametric and procedural design. It is infrastructure for generative design, mass customization, and domain-specific CAD tools.

S. Levine, P. Pastor, A. Krizhevsky, and D. Quillen. (2016)cite arxiv:1603.02199Comment: This is an extended version of "Learning Hand-Eye Coordination for Robotic Grasping with Large-Scale Data Collection," ISER 2016. Draft modified to correct typo in Algorithm 1 and add a link to the publicly available dataset.